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This book provides a self-contained and rigorous introduction to calculus of functions of one variable, in a presentation which emphasizes the structural development of calculus. Throughout, the authors highlight the fact that calculus provides a firm foundation to concepts and results that are generally encountered in high school and accepted on faith; for example, the classical result that the ratio of circumference to diameter is the same for all circles. A number of topics are treated here in considerable detail that may be inadequately covered in calculus courses and glossed over in real analysis courses.